function [] = printAll( x, x2, x3, mse, mse2, mse3, topology )

[n, M] = size(mse);
n = n-1;
figure(1)
axis ([0 50.1 0 50.1]);
hold on
for m=1:M
tmp = x3(1:2,m,:);
plot(tmp(1,:),tmp(2,:),'r')
tmp = x2(1:2,m,:);
plot(tmp(1,:),tmp(2,:),'g')
tmp = x(1:2,m,:);
plot(tmp(1,:),tmp(2,:),'k')
legend('Nonparametric BP 1', 'Nonparametric BP 2', 'Sigma Point BP');
end
for m=1:M
plot(topology.trajec(1,:,m),topology.trajec(2,:,m),'b')
end
scatter(topology.ac(:,1),topology.ac(:,2))
hold off

figure(2)
tmp = mean(mse3(2:end,:),2);
plot(1:n,tmp,'r')
axis ([1 n 0 5]);
hold on
tmp = mean(mse2(2:end,:),2);
plot(1:n,tmp,'g')
tmp = mean(mse(2:end,:),2);
plot(1:n,tmp,'k')
legend('Nonparametric BP 1', 'Nonparametric BP 2', 'Sigma Point BP');
hold off

figure(3)
for m=1:M
p1 = plot(topology.trajec(1,:,m),topology.trajec(2,:,m),'-k','LineWidth',1.5,'MarkerSize',6,'MarkerFaceColor','w');
hold on
set(p1(1),'color',[0/255,170/255,0/255])
end
scatter(topology.ac(:,1),topology.ac(:,2),150,'k','o','LineWidth', 2)
scatter(topology.trajec(1,1,:),topology.trajec(2,1,:),200,[0/255,170/255,0/255],'x','LineWidth', 2.5)
axis ([-1 51 -1 51]);
xlabel('x-coordinate [m]'), ylabel('y-coordinate [m]');
set(gca,'YTick',0:10:50)
set(gca,'XTick',0:10:50)
pbaspect('manual')
hold off

end

